Cannula attachment devices and methods for a surgical robotic system

ABSTRACT

A robotic surgical system may include a cannula attachment device or cannula mount having a locking mechanism configured to pivot between an unlocked position and a locked over-center position. The locking mechanism may actuate a clamp or other feature that is configured to move between a closed position and an open position. The clamp may include a locating structure with one or more tapered surfaces that is configured to mate with a corresponding structure disposed on a portion of a cannula when the cannula is positioned in the cannula attachment device. The locating structure may guide the cannula into the attachment device, as well as assist with orientating the cannula relative to the attachment device.

CROSS-REFERENCE AND RELATED APPLICATIONS

This application is a continuation of co-pending U.S. patent applicationSer. No. 15/999,399, filed on Aug. 20, 2018, which claims priority toU.S. Provisional Patent Application No. 62/548,292, filed Aug. 21, 2017,and these applications are hereby incorporated herein by reference intheir entirety.

TECHNICAL FIELD

This invention relates generally to robotic surgical systems, and morespecifically to new and useful attachment devices and methods forattaching a sterile component to one or more non-sterile components of arobotic surgical system.

BACKGROUND

Minimally-invasive surgery (MIS), such as laparoscopic surgery, involvestechniques intended to reduce tissue damage during a surgical procedure.For example, laparoscopic procedures typically involve creating a numberof small incisions in the patient (e.g., in the abdomen), andintroducing one or more tools and at least one camera through theincisions into the patient. The surgical procedures are then performedby using the introduced tools, with the visualization aid provided bythe camera. Generally, MIS provides multiple benefits, such as reducedpatient scarring, less patient pain, shorter patient recovery periods,and lower medical treatment costs associated with patient recovery.

MIS may be performed with non-robotic or robotic systems. Conventionalrobotic systems, which may include robotic arms for manipulating toolsbased on commands from an operator, may provide many benefits of MISwhile reducing demands on the surgeon. Control of such robotic systemsmay require control inputs from a user (e.g., surgeon or other operator)via one or more user interface devices that translate manipulations orcommands from the user into control of the robotic system. For example,in response to user commands, a tool driver having one or more motorsmay actuate one or more degrees of freedom of a surgical tool when thesurgical tool is positioned at the surgical site in the patient.

During a robotic MIS, a surgeon or other operator may use a number ofdifferent surgical instruments to perform a procedure at a surgicalsite. Oftentimes, a surgeon may rely on the use of a trocar or a cannulato target a site within a patient's body. The cannula may provide achannel or opening through which additional surgical instruments may beintroduced and removed by a surgeon. For example, a cannula can bepositioned within a patient in a body cavity, and a surgical instrumentcan be inserted into the cannula and guided to the body cavity via thecannula. In a robotic system, the cannula may be mounted to one or morerobotic arms, which may be remotely controlled by the surgeon to movethe cannula. A cannula mount may be used to attach the cannula to arobotic arm to ensure proper control and placement of the cannula withinthe patient. Many conventional cannula mounts, however, are small insize and limited in how much load they can carry. These cannula mountsmay use complex latching systems to secure a cannula in place relativeto a robotic arm, but they may be difficult to use and sensitive tovariation in cannula dimensions. Similar to traditional surgicalprocedures, it is also important to maintain a sterile environment inthe surgical field during robotic MIS. In view of these areas forimprovement, it is desirable to have new and improved cannula mounts andattachment methods in a robotic surgical system.

SUMMARY

Generally, in some variations, a robotic surgical system may include anapparatus for attaching a cannula to the surgical system. The apparatusmay have a first clamp component and a second clamp component spacedapart from each other. The first clamp component may be configured topivot between an open position and a closed position. The first andsecond clamp components may define a region for receiving a portion of acannula. When the first clamp component is in the closed position, thefirst and second clamp components may retain the portion of the cannulawithin the region between the first and second clamp components. Theapparatus may further have a locking component that is coupled to thefirst clamp component and configured to pivot the first claim componentbetween the open position and the closed position. Additionally oralternatively, the locking component may be coupled to the second clampcomponent.

In some variations, the locking component may be pivotable between anunlocked position and a locked position. The locked position may, forexample, be a locked over-center position. When the locking component isin the unlocked position, the first clamp component may be in the openposition, and when the locking component is in the locked position, thefirst clamp component may be in the closed position. The lockingcomponent may be configured to lock the first clamp component in theclosed position when the locking component is in the locked position.For example, the locking component can be biased toward the lockedposition when the locking component is in the locked position. In somevariations, the robotic surgical system and/or the attachment apparatusmay include a spring configured to bias the first clamp component in theclosed position.

In some variations, the first clamp component may have a slot thatextends along a partial length of the first clamp component. A first endof the locking component may be disposed in and moveable along a lengthof the slot of the first clamp component, and a second end of thelocking component may be moveable to pivot the locking component betweenthe unlocked position and the locked over-center position. The first endof the locking component may move in a first direction along the slotwhen the locking component pivots from the unlocked position to thelocked over-center position, and the first end of the locking componentcan move in a second direction along the slot opposite to the firstdirection when the locking component pivots from the locked over-centerposition to the unlocked position.

In some variations, at least one of the first clamp component and thesecond clamp component may include a locating structure configured tomate with a corresponding structure disposed on the portion of thecannula. The locating structure may be configured to guide the portionof the cannula into the region between the first and second clampcomponents in a predefined orientation relative to the first and secondclamp components. In some variations, the locating structure includes afirst tapered surface and a second tapered surface, where the twotapered surfaces form a triangular protrusion. The triangular protrusionmay be configured to latch into the portion of the cannula and retainthe portion of the cannula within the region defined by the first andsecond clamp components when the first clamp component is in the closedposition. In other variations, the locating structure can be othersuitable shapes, such as generally frusto-pyramidal.

In some variations, the robotic surgical system and/or the attachmentapparatus may also include a sterile barrier that separates the firstand second clamp components of the attachment apparatus from thecannula. The sterile barrier may separate non-sterile components of thesurgical system, such as the first and second clamp components, fromsterile components of the surgical system, including the cannula.

In some variations, a method may include positioning a locking componentof an attachment apparatus for a cannula in an unlocked position,inserting a portion of the cannula into a region between a first clampcomponent and a second clamp component, and moving the locking componentfrom the unlocked position to a locked over-center position. The lockingcomponent may be operatively coupled to the first clamp component andconfigured to pivot the first clamp component between an open positionand a closed position; therefore, moving the locking component from theunlocked position to a locked over-center position may pivot the firstclamp component to the closed position such that the first and secondclamp components are configured to retain the portion of the cannula inthe region between the first and second clamp components.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic illustration of an exemplary variation of acannula and a surgical instrument coupled to a robotic arm.

FIG. 2A is a perspective view of an exemplary variation of a cannulaattachment device or cannula mount. FIG. 2B is another perspective viewof the cannula attachment device depicted in FIG. 2A, as shown from adifferent perspective. FIG. 2C is another perspective view of thecannula attachment device depicted in FIG. 2A, as shown from a differentperspective.

FIG. 3 is an exploded view of an exemplary variation of a cannulaattachment system, including a cannula, a sterile barrier, and thecannula attachment device depicted in FIG. 2.

FIG. 4A is a perspective view of the cannula attachment system depictedin FIG. 3 with the sterile barrier engaged with the cannula attachmentdevice. FIG. 4B is a perspective view of the cannula attachment systemdepicted in FIG. 3 with a portion of the cannula inserted within thecannula attachment device.

FIGS. 5A, 5B, and 5C depict the cannula attachment device of FIG. 2A inthree different configurations.

FIG. 6 depicts an over-center arrangement of the cannula attachmentdevice of FIG. 2A.

FIGS. 7A and 7B are schematic illustrations of another exemplaryvariation of a cannula attachment device. FIG. 7A depicts the cannulaattachment device in a first configuration, and FIG. 7B depicts thecannula attachment device in a second configuration.

FIG. 8 is a schematic illustration of another exemplary variation of acannula attachment device, including a mechanism for moving a lockingcomponent.

FIG. 9A is a schematic illustration of an exemplary variation ofclamping component of a cannula attachment device having a locatingstructure. FIG. 9B is a side view of the clamping component depicted inFIG. 9A.

FIG. 10 is a schematic illustration of another exemplary variation of acannula attachment device.

FIG. 11 is a schematic illustration of another exemplary variation of acannula attachment device.

FIG. 12 is a schematic illustration of another exemplary variation of acannula attachment device.

FIG. 13 is a schematic illustration of another exemplary variation of acannula attachment device.

FIG. 14 is a schematic illustration of another exemplary variation of acannula attachment device.

FIG. 15A is an enlarged view of an attachment region of the cannulaattachment device depicted in FIG. 14 in a first configuration. FIG. 15Bis an enlarged view of the attachment region of the cannula attachmentdevice depicted in FIG. 14 in a second configuration.

FIG. 16 is a flowchart of an exemplary method for attaching a cannula toa robotic surgical system using a cannula attachment device.

DETAILED DESCRIPTION

Examples of various aspects and variations of the invention aredescribed herein and illustrated in the accompanying drawings. Thefollowing description is not intended to limit the invention to theseembodiments, but rather to enable a person skilled in the art to makeand use this invention.

Generally, a robotic or robotic-assisted surgical system (e.g., toenable a minimally-invasive surgical procedure) may include one or morerobotic arms for manipulating surgical instruments, such as duringminimally-invasive surgery. For example, as shown in the exemplaryschematic of FIG. 1, a portion of a robotic surgical system 100 mayinclude a robotic arm 110 and an instrument driver or actuator 120generally attached to a distal end of the robotic arm 110. A cannula 130may be coupled to the instrument driver 120 or a portion of the roboticarm 110 disposed proximate to the instrument driver 120. The cannula 130may have a lumen through which a surgical instrument 150 may bereceived. Furthermore, the robotic arm 110 may include a plurality oflinks that are actuated so as to position and orient the instrumentdriver 120, the cannula 130, and/or the surgical instrument 150 relativeto a patient's body.

For use in a surgical procedure, the robotic arm 110 may be mounted toan operating table on which a patient lies (or on a cart, ceiling,sidewall, etc. near the patient). To create a port for enablingintroduction of a surgical instrument into the patient, a trocarassembly may be at least partially inserted into the patient through anincision or entry point in the patient (e.g., in the abdominal wall).The trocar assembly may include the cannula 130, an obturator, and/or aseal. In some variations, the trocar assembly can include an obturatorsuch as a needle with a sharpened tip for penetrating through apatient's skin. The obturator may be disposed within the lumen of thecannula 130 when being inserted into the patient, and then removed fromthe cannula 130 such that a surgical instrument may be inserted throughthe lumen of the cannula 130. Once positioned within the patient's body,the cannula 130 may provide a channel for accessing a body cavity orother site within the patient. When a surgical instrument such as thesurgical instrument 150 is coupled to the instrument driver 120, thesurgical instrument 150 may be disposed within the cannula 130 andextend through the lumen of the cannula 130 such that a portion of thesurgical instrument 150 (e.g., an instrument shaft) passes through thecannula 130 into the patient. The instrument 150 may have an endeffector disposed at the distal end of the instrument shaft, and theinstrument driver 120 may further be controlled to position and/oractuate one or more degrees of freedom of the instrument 150 to performvarious tasks during a surgical procedure (e.g., cutting, grasping,etc.) in accordance with the particular kind of end effector.Additionally, the instrument 150 may be withdrawn from the port (andwithdrawn from the cannula 130) and decoupled from the instrument driver120 to exchange with another instrument, such as another instrumenthaving an end effector with different functionality.

Over-Center Variations

In some variations, the cannula 130 may be coupled to instrument driver120 or another component of the surgical system using a cannulaattachment device or a cannula mount. The attachment device may providea reliable and quick way to attach the cannula 130 to the surgicalsystem. In some variations, the attachment device may include first andsecond clamp components (e.g., arms, plates, levers, members) that candefine a region for receiving a portion of a cannula (e.g., anattachment portion of a cannula located in a proximal portion of thecannula). At least one of the clamp components may be pivotable betweenan open position such that the cannula can be inserted into the regionbetween the clamp components and a closed position such that the cannulais held in place at least partially by the first and second clampcomponents.

As shown in, for example, FIGS. 2A-2C, the attachment device may includean over-center mechanism such as a lever or other suitable lockingcomponent 240 that is configured to pivot a pivotable clamp component230 between the open and closed positions. The over-center mechanismmay, for example, help lock clamp components 220, 230 together around aportion of the cannula, thereby securing the cannula to the cannulaattachment device. The lever can be movable between an unlocked positionand a locked position (e.g., a locked over-center position). When thelever is in the locked position, the lever may lock the pivotable clampcomponent 230 in the closed position such that the cannula is securelyheld between the first and second clamp components. In some variations,the lever may have a first end with a peg that is located in a slot 232on the pivotable clamp component (or the lever may engage with thepivotable clamp component in any suitable manner) and a second end withone or more user contact points 242 (e.g., a handle or knob). The levermay be pivotable about a point disposed between its first and secondends. A user may apply a force to the contact point (e.g., press on thecontact point) to effect translation of the peg of the lever in theslot. For example, in the locked position, the peg of the lever may betranslated to a position that is over-center relative to the pivot pointof the lever. In the over-center position, the peg resists movement backtoward its initial position, thereby reducing the risk of the levermoving and releasing the pivotable clamp component from engagement withthe cannula. In some variations, the attachment device may include aspring or other biasing element that is configured to bias the lever inthe locked over-center position.

In some variations, the cannula attachment device may have at least onelocating structure that may, for example, help align and position thecannula relative to one or more of the clamp components in a consistent,pre-defined manner. For example, as shown in FIG. 2A, at least one ofthe clamp components may have one or more protrusions (e.g., surfaces252, 254 on the clamp component 230) shaped to mate with acorrespondingly-shaped recess disposed on a portion of the cannula(e.g., an attachment portion of the cannula). For example, theprotrusion may be generally frusto-pyramidal (e.g., four-sided slopedstructure) that may be inserted into or otherwise engage with a recesson a proximal portion of the cannula when the proximal portion of thecannula is inserted into the region between the first and second clampcomponents in a specific, predefined orientation. Once the first andsecond clamp components 220, 230 close around the portion of the cannula(e.g., when the pivotable clamp component is in the closed position),the protrusion may be seated in the recess disposed on the portion ofthe cannula. In some variations, the protrusion on the clamp componentmay have a deep pull-back angled surface that resists the portion of thecannula from being removed from the region between the first and secondclamp components when the first and second clamp components have closedaround the portion of the cannula. In other variations, the locatingstructure may be a two-sided ramp or have two sloped surfaces that forma triangular protrusion, or have any suitable shape. Similar to thepyramid, the two-sided ramp may be shaped to engage with acorrespondingly-shaped recess (e.g., triangular cutout) disposed on aportion of the cannula. In still other variations, one or more of theclamp components may additionally or alternatively include at least onelocating structure that is a recess shaped to engage with a protrusiondisposed on a portion of the cannula.

In some variations, a first clamp component may be moveable or pivotablebetween an open position and a closed position, such as described above,and a second clamp component may be stationary or fixed. In thesevariations, the locating structure (e.g., a pyramid, a two-sided ramp,etc.) may be located on the first, moveable clamp component or on thesecond, fixed clamp component. In other variations, each of the firstand second clamp components may have a locating structure such as asloped surface, a projection, or a recess. In some variations, one ofthe clamp components may have a surface providing a back angle thatprevents the portion of the cannula received between the first andsecond clamp components from being removed or disengaged from the firstand second clamp components.

In some variations, the attachment device may also provide a sterilebarrier between sterile components such as the cannula and non-sterilecomponents such as the first and second clamp components (or othernon-sterile components of the surgical system). The sterile barrier maybe provided, for example, by a sterile adapter that is interposedbetween the cannula and the first and second clamp components.

In some variations, the attachment device may have sensing capabilitiesfor sensing and/or identifying a trocar or cannula. For example, theattachment device may have a sensor (e.g., a magnetic, electric, and/oroptic sensor, etc.) that detects a position of the latch of the cam lockmechanism in order to determine whether the latch has latched onto acannula or trocar. As another example, the attachment device may have asensor that determines a type of trocar or cannula that has beeninserted into the attachment device.

FIGS. 2A-6 depict an exemplary variation of an attachment device formounting a cannula, such as a cannula 300, having two clamp components.FIGS. 2A-2C depict different views of the attachment device 200. Asshown in FIGS. 2A-2C, the attachment device 200 may have a first clampcomponent 230 that is moveable or pivotable about a first pivot point234. The first clamp component 230 may pivot about the first pivot point234 between an open position, such as is shown in FIGS. 2A-2C and 4A-4B,and a closed position, such as is shown in FIGS. 5C and 6. Theattachment device 200 may also have a second clamp component 220. Insome variations, the second clamp component 220 may be fixed orstationary. In other variations, the second clamp component 220 may bepivotable similar to the first clamp component. The second clampcomponent 220 may be spaced from the first clamp component such that thetwo clamp components 220, 230 define a region between them that isconfigured to receive a portion of the cannula 300 such as, for example,an attachment portion 306 of the cannula 300 (see FIG. 3). The two clampcomponents 220, 230 may be supported on a support component 214 such as,for example, a plate, bar, beam, or other suitable surface of a tooldriver in a robotic surgical system. The first clamp component 230 maybe supported on the support component 214 at a first location via thefirst pivot point 234 (e.g., pin joint, hinge, etc.), and the secondclamp component 220 may be supported on the support component 214 at asecond location spaced from the first clamp component 230. In somevariations, the first clamp component 230 can be attached to a pivotingstructure that allows the first clamp component 230 to rotate about thepivot point 234, and the pivoting structure can be attached to thesupport component 214. In such variations, the first clamp component 230can be attached to the pivoting structure via a fastener (e.g., bolt,nail, screw, pin, etc.) or an adhesive (e.g., epoxies, polyurethanes,polyimides, etc.), and/or via other fastening techniques including, forexample, crimping, welding, brazing, etc. In other variations, the firstclamp component 230 can be integrally formed with a pivoting structuresuch as, for example, a living hinge. In some variations, the secondclamp component 220 can be directly attached to the support component214 via a fastener (e.g., bolt, nail, screw, pin, etc.), an adhesive(e.g., epoxies, polyurethanes, polyimides, etc.), and/or other fasteningtechnique (e.g., crimping, welding, brazing, etc.). In other variations,the second clamp component 220 can be integrally formed with the supportcomponent 214. In some variations, the two clamp components 220, 230 canbe formed of a plastic, a metal, or a composite material. In somevariations, the two clamp components 220, 230 can be formed viamachining, molding, or other manufacturing techniques.

Although the variation shown in FIGS. 2A-6 generally depict two opposingclamp components, it should be understood that in other variations, theattachment device may include more than two clamp components. Forexample, at least two clamp components may be pivoting simultaneously inparallel to clamp onto a first side of the cannula (e.g., two clampcomponents moving similar to the pivotable clamp component 230 describedabove), and/or at least two clamp components may be included to clamponto a second side of the cannula (e.g., two prong-like clamp componentsfixed similar to the second clamp component 220 described above). Insome variations, more than two clamp components may border an attachmentregion for receiving the cannula on different sides, and each clampcomponent may be separately actuated by a user to close around thecannula when the cannula is received in the attachment region. Forexample, two clamp components 220, 230 can border a first and secondside of an attachment region for receiving the cannula, such as shown inFIGS. 2A-6, and two additional clamp components can border a third and afourth side of the attachment region. The two additional clampcomponents may be separately actuated by a user to close around thecannula (e.g., a user can clamp the two clamp components 220, 230 aroundthe cannula, and then clamp the additional clamp components around thecannula), or the two additional clamp components may be actuatedtogether with the two clamp components 220, 230 using a single actuationmechanism. In some variations, one or more outer clamp components (orother fastening mechanisms) may also be disposed around one or moreinner clamp components such that the outer clamp components can closearound the inner clamp components to further secure the engagementbetween the inner clamp components and the cannula.

As shown in FIG. 3, the cannula 300 may have a proximal portion 302,such as, for example, a hub, fitting, connector, etc. The proximalportion 302 of the cannula 300 may include the attachment portion 306.The attachment portion 306 may extend from a side of the proximalportion 302. The cannula 300 may also have a shaft 304 (partiallydepicted in FIG. 3) that extends from the proximal portion 302. Theshaft 304 may have a lumen through which one or more surgicalinstruments may be inserted. When the cannula 300 is disposed in apatient, a distal end of the shaft may be positioned within thepatient's body such as, for example, in a body cavity.

The attachment device 200 may also have a locking component 240 such as,for example, a lever. The locking component 240 may be moveably coupledto the first clamp component 230 and configured to move or pivot about asecond pivot point 244. As depicted in FIGS. 2A-2C, the second pivotpoint 244 may be disposed between two ends of the locking component 240.The pivot point 244 may be supported on a structure including two plates246 that are coupled to the support component 214. The two plates 246may include or be coupled to a bolt, pin, or other structure that fitsinto one or more openings formed in the locking component 240.Alternatively, the two plates 246 may include openings through which abolt, pin, or other structure coupled to the locking component 240 mayfit. The engagement between the bolt, pin, or other structure and thelocking component 240 may allow the locking component 240 to rotate orpivot. The locking component 240 may be pivotable about the second pivotpoint 244 between an unlocked position, as shown in FIGS. 2A-2C and4A-4B, and a locked over-center position, as shown in FIGS. 5C and 6.When the locking component 240 is in the unlocked position, the firstclamp component 230 is in the open position, and when the lockingcomponent 240 is in the locked over-center position, the first clampcomponent 230 is in the closed position.

The attachment device 200 may include at least one locking feature orlocating structure configured to mate with a corresponding structuredisposed on a portion of the cannula 300, such as for example, theattachment portion 306 of the cannula 300. In some variations, thelocating structure can be disposed on the first clamp component 230.Additionally or alternatively, the locating structure can be at leastpartially disposed on the second clamp component 220, or anothercomponent or surface adjacent to or surrounding the region between thetwo clamp components 220, 230. In the variation depicted in FIG. 2A, thelocating structure is located on the first clamp component 230 and maybe formed from two surfaces 252, 254. The two surfaces 252, 254 may betapered surfaces that form a triangular protrusion or a two-sided ramp.As depicted in FIG. 2A, the two surfaces 252, 254 are angled withrespect to a longitudinal axis of the first clamp component 230. Thetriangular protrusion formed by the two surfaces 252, 254 may be capableof latching into the attachment portion 306 of the cannula 300 when theattachment portion 306 is received in the region between the two clampcomponents 220, 230 and the first clamp component is in its closedposition, as shown in FIGS. 5C and 6. The attachment portion 306 mayhave two surfaces 308, 310 (see FIG. 3) that form a shape or structurethat is configured to mate with the triangular protrusion formed by thetwo surfaces 252, 254. In some variations, the locating structure mayinclude additional angled or tapered surfaces and take on differentshapes (e.g., a frusto-pyramidal shape, as further described below withreference to FIGS. 9A and 9B).

In some aspects, the two clamp components 220, 230 may be non-sterileand the cannula 300 may be sterile. Thus, a sterile barrier can beprovided that separates the non-sterile clamp components 220, 230 fromthe sterile cannula 300. As depicted in FIG. 3, a sterile adapter 212may form a sterile barrier between the non-sterile clamp components 220,230 and the sterile cannula 300. The sterile adapter 212 can be a coverthat has an opening 211 (see FIGS. 2C and 3) for receiving theattachment portion 306 of the cannula 300 such that, the attachmentportion 306, when received in the sterile adapter 212, is covered orsurrounded by the sterile adapter 212. The sterile adapter 212 may besufficiently flexible such that it can deform (e.g., receive theattachment portion 306 when the attachment portion 306 is insertedthrough the opening 211) but have sufficient stiffness such that itretains a non-deformed or resting shape that generally corresponds to ashape of the attachment portion 306 of the cannula 300. In particular,in its non-deformed state, the sterile adapter 212 may form a shape withtwo tapered surfaces 202, 204 that substantially corresponds to theshape formed by the two tapered surfaces 308, 310 of the attachmentportion 306.

The sterile adapter 212 may be mounted to and supported by a supportcomponent 210 such as, for example, a bar or beam. As shown in FIG. 3,the support component 210 may include one or more engagement mechanisms216 that are configured to releasably couple or attach the supportcomponent 210 to the support component 214 (described above). Forexample, the engagement mechanism 216 may include a latch that latchesonto an edge or ridge 218 of the support component 214. Additionally oralternatively, the engagement mechanism 216 may include a hook, a screw,a pin, and/or other mechanism capable of coupling the support component210 to the support component 214. In some aspects, an adhesive mayadditionally or alternatively be used to couple the support component210 to the support component 214. When the support component 210 isattached to the support component 214, the sterile adapter 212 may bedisposed in the region between the two clamp components 220, 230, asdepicted in FIGS. 2A-2C and 4A-6.

FIGS. 4A-5C show the attachment device 200 in different configurationsduring a cannula attachment or coupling operation. As depicted in FIG.4A, the locking component 240 is positioned in the unlocked position andthe first clamp component 230 is positioned in the open position. Thecannula 300 may be moved in a direction 410 such that the attachmentportion 306 of the cannula 300 is inserted into the region between thetwo clamp components 220, 230 or, more specifically, inserted throughthe opening 211 into the sterile adapter 212, which is located in theregion between the two clamp components 220, 230. In some variations,the surface 254 of the first clamp component 230 may be configured tohelp guide and orient the attachment portion 306 when it is insertedinto the region between the two clamp components 220, 230. For example,the surface 254 may be angled such that it smoothly receives theattachment portion 306 when the attachment portion 306 is inserted intothe region between the two clamp components 220, 230 in the predefinedorientation shown in FIG. 4A (e.g., in an orientation where the surfaces308, 310 are facing the surfaces 252, 254 and configured to engage ormate with surfaces 252, 254, as shown in FIG. 5C). And when theattachment portion 306 is inserted into the region between the two clampcomponents 220, 230 in a different orientation, the surface 254 may pushagainst or otherwise interfere with the attachment portion 306 toindicate that the attachment portion 306 is not properly orientated withrespect to the two clamp components 220, 230. For example, the firstsurface 254 may prevent the attachment portion 306 from being insertedinto the region between the two clamp components 220, 230 (e.g., bycreating a clearance that is too small for the attachment portion 306 tobe inserted into the region) when the attachment portion 306 is notbeing inserted into the region between the two clamp components 220, 230in the predefined orientation. Additionally or alternatively, the firstsurface 254 may exert a backward force against the attachment portion306 (via interference between the first surface 254 and the attachmentportion 306) when the attachment portion 306 is not being inserted intothe region in the predefined orientation, which may signal to a userthat the attachment portion 306 is not properly orientated with respectto the two clamp components 220, 230. In some variations, to help guidethe attachment portion 306 into the region between the two clampcomponents 220, 230, the first surface 254 may be angled to generallycorrespond to an angle of the surface 312 of the attachment portion 306when the first clamp component 230 is in the open position. Accordingly,as the attachment portion 306 is being inserted into the region betweenthe two clamp components 220, 230, the first surface 254 may contact thesurface 312 and help guide the attachment portion 306 into the regionbetween the two clamp components 220, 230.

In some variations, the second clamp component 220 may have an angled ortapered surface that can guide the attachment portion 306 into theregion between the two clamp components 220, 230 in the predefinedorientation. As depicted in FIG. 4A, the second clamp component 220 mayhave an angled surface 206 that is shaped to correspond to a bottomsurface 314 of the attachment portion 306. The angled surface 206 may beslightly angled toward the first clamp component 230 such that itcreates a slight taper in the region between the two clamp components220, 230. Accordingly, when the attachment portion 306 is being insertedinto the region between the two clamp components 220, 230, the secondclamp component 220 may contact and help guide the attachment portion306 into the region.

After the attachment portion 306 is inserted into the region between thetwo clamp components 220, 230, the locking component 240 may be movedfrom its unlocked position to its locked over-center position bypivoting the locking component 240 in a direction 420, as shown in FIG.4B. FIGS. 5A-5C show the locking component 240 in differentconfigurations as it is pivoted from its unlocked position to its lockedover-center position. In the variation depicted, the first clampcomponent 230 may have a slot 232 formed along a longitudinal length ofits body. The slot 232 may extend along a partial length of the firstclamp component 230. The locking component 240 may have a first end 250that is movable along a length of the slot 232. In particular, thelocking component 240 may have a peg located at its first end 250 thatis disposed in and movable along a length of the slot 232. The lockingcomponent 240 may have a second end 242 that is shaped like a handle orknob. The locking component 240 may have a shaft 248 that extends fromthe second end 242 of the locking component 240 through the second pivotpoint 244 to the first end 250 of the locking component 240. The secondend 242 of the locking component 240 may be movable, for example, by auser, to pivot the locking component 240 between the unlocked positionand the locked over-center position. For example, a user may apply aforce 420, as shown in FIG. 4B, to move the second end 242 of thelocking component 240 in order to pivot the locking component 240 fromthe unlocked position to the locked over-center position. The user mayapply the force 420 by pressing on or pushing the second end 242 of thelocking component 240.

In FIG. 5A, the first end 250 of the locking component 240 has moved afirst distance in a first direction along a slot 232 of the first clampcomponent 230. As the locking component 240 continues to pivot, thefirst end 250 of the locking component 240 may continue to move alongthe slot 232 in the first direction to a dead-center position, as shownin FIG. 5B. In the dead-center position, the shaft 248 (includingportions 248 a, 248 b) of the locking component 240 may be aligned alongthe axis 430. In the example shown in FIG. 5B, once the lockingcomponent 240 has pivoted to the dead-center position, the lockingcomponent 240 has moved the first clamp component 230 approximately tothe closed position, and further movement of the locking component 240beyond the dead-center position does not cause significant additionalmovement of the first clamp component 230. Although the first clampcomponent 230 is shown in FIG. 5B as being approximately in the closedposition when the locking component 240 has pivoted to the dead-centerposition, in other variations, the first clamp component 230 may be in aposition that is offset from the closed position. In some variations,the first clamp component 230 may be formed of a compressible materialthat begins and/or continues to deform as the locking component 240pivots beyond the dead-center position. In some variations, the lockingcomponent 240 may be balanced in place when it is in the dead-centerposition. For example, if a user applies just enough force to move thelocking component 240 into the dead-center position and does not exertadditional force to move the locking component 240 beyond thedead-center position, then the locking component 240 can stay balancedin the dead-center position.

When additional force is exerted on the locking component 240 in thedirection 420, the locking component 240 may pivot until it is in thelocked over-center position, as shown in FIG. 5C. Once the lockingcomponent 240 is pivoted beyond the dead-center position (e.g., as shownin FIG. 5C), a biasing force may act on the locking component 240 andforce it to continue pivoting until the locking component 240 is in thelocked over-center position. The biasing force acting on the lockingcomponent 240 holds the locking component 240 in the locked over-centerposition until a sufficient counter-force overcomes the biasing force tomove the locking component 240 back toward its initial unlockedposition. Accordingly, a user must overcome the additional biasing forcethat acts on the locking component 240 before the user can move thelocking component 240 back to its unlocked position and open the firstclamp component 230. In the locked over-center position, the first end250 of the locking component 240 may be disposed at a far end of theslot 232 (e.g., an end opposite from an end of the slot closer to thepivot point 234), and the first clamp component 230 may be in the closedposition. Accordingly, by moving or pivoting the locking component 240from the unlocked position to the locked over-center position, a usermay pivot the first clamp component 230 into the closed position.

When the first clamp component 230 is in the closed position, the twoclamp components 220, 230 may retain the attachment portion 306 of thecannula 300 in the region between the two clamp components 220, 230. Insome variations, the locking component 240 acts to prevent the cannula300 from becoming disengaged or decoupled from the attachment device200. For example, as depicted in FIG. 6, when the locking component 240is in the locked over-center position and the cannula 300 is retainedbetween the two clamp components 220, 230, a pulling force applied in adirection 502 creates a force that pushes upward in a direction 504,which acts to pivot the locking component 240 in a direction 506,further pushing the locking component 240 toward the locked over-centerposition. The pulling force may result from a force being applied to aportion of the cannula 300 (e.g., the proximal portion 302 or the shaft304), such as, for example, during a surgical operation or procedure. Asdescribed above, the first clamp component may have a surface 252 thatis configured to mate and engage with a surface 310 of the attachmentportion 306. Accordingly, when the cannula 300 is pulled in thedirection 502, the surface 252 may engage with the surface 310, whichcreates a force in the direction 504. The force in the direction 504then acts on the second portion 248 b of the shaft 248 to pivot thelocking component 240 in the direction 506.

FIG. 16 is a flowchart of an exemplary variation of a method 1900 ofattaching a cannula to a surgical system using an attachment device,such as the attachment device 200 or other attachment devices describedherein. The method 1900 may optionally include positioning a lockingcomponent (e.g., the locking component 240) of the attachment apparatusin an unlocked position, at 1902. The locking component may beoperatively coupled to a clamp component (e.g., the first clampcomponent 230) and configured to pivot the clamp component between anopen position and a closed position. The locking component may pivot theclamp component to the open position when the locking component ispositioned in the unlocked position. In the open position, the clampcomponent may allow a portion of a cannula (e.g., the attachment portion306 of the cannula 300) to be received in a region between the clampcomponent and another clamp component (e.g., the second clamp component220). Accordingly, when the locking component is not in the unlockedposition and the clamp component is not in the open position, thelocking component may be moved into the unlocked position in order toposition the clamp component in the open position, at 1902. When thelocking component is already in the unlocked position and the clampcomponent is in the open position, step 1902 may be omitted.

At 1904, the portion of the cannula (e.g., the attachment portion 306 ofthe cannula 300 may be inserted into the region between the two clampcomponents (e.g., the two clamp components 220, 230). The cannula may bepositioned in a predefined orientation relative to the two clampcomponents, at 1906. When the cannula is in the predefined orientationrelative to the two clamp components, a locating structure disposed onat least one of the two clamp components (e.g., the locating structuredefined by the two surfaces 252, 254) may mate with a correspondingstructure disposed on the portion of the cannula (e.g., the surfaces308, 310) after the cannula is fully inserted into the region betweenthe two clamp components. At 1908, the locking component may be movedfrom the unlocked position to a locked over-center position in order topivot the clamp component to the closed position. When the clampcomponent is in the closed position, the two clamp components may retainthe portion of the cannula in the region between the two clampcomponents. For example, the two clamp components may clamp around theportion of the cannula such that the portion of the cannula is held orsecured in the region between the two clamp components. The locatingstructure or some other structure disposed on one of the two clampcomponents or another surface adjacent to the region between the twoclamp components may latch 0into a corresponding structure disposed onthe portion of the cannula to retain the portion of the cannula in theregion between the two clamp components.

FIGS. 7A and 7B depict another exemplary variation of an attachmentdevice for mounting a cannula, such as a cannula 680, having two clampcomponents. FIGS. 7A and 7B show the attachment device 600 in twodifferent configurations—specifically, FIG. 7A depicts the attachmentdevice 600 in a first configuration in which a clamp component 630 ofthe attachment device 600 is in an open position, and FIG. 7B depictsthe attachment device 600 in a second configuration in which the clampcomponent 630 is in a closed position. The attachment device 600 may besimilar in structure and/or function to one or more other attachmentdevices described herein, including the attachment device 200 describedwith reference to FIGS. 2A-6, with variations including, for example,(1) a locating structure being located on a fixed clamp componentinstead of a movable clamp component, and (2) the movable clampcomponent 630 is moveable or translatable in a direction 652 instead ofpivotable. As shown in FIG. 7A, the attachment device 600 may includethe clamp component 630 and an additional clamp component 620. The twoclamp components 620, 630 may define a region between them in which anattachment portion 686 of the cannula 680 may be received.

The cannula 680 may be similar in structure and/or function to one ormore other cannula variations described herein, including the cannula300 described with reference to FIGS. 3-6. For example, the cannula 680may include a proximal portion 682 and a shaft 684. The shaft 684 mayhave a lumen through which a surgical instrument 690 may be inserted.The surgical instrument 690 may include a port 692 through which a fluidmay be introduced into and/or removed from the body of the patient. Theflow of fluid in and/or out of the port 692 may be controlled by a valvecontrol 694. The proximal portion 682 of the cannula 680 may include theattachment portion 686.

The attachment device 600 may also include a locking component 640(e.g., a lever, bar, beam, or similar structure), which is configured topivot about a pivot point 644. The locking component 640 may beoperatively coupled to the clamp component 630 via a peg 650 (or otherstructure) that fits into a slot 632 formed in the clamp component 630.The peg 650 may be configured to move along a length of the slot 632.Similar to the attachment device 200, the locking component 640 may beconfigured to move the clamp component 630 between the open position andthe closed position. When the locking component is in a first unlockedposition, the clamp component 630 may be in the open position (asdepicted in FIG. 7A), and when the locking component is in a secondlocked, over-center position, the clamp component 630 may be in theclosed position (as depicted in FIG. 7B). The locking component 640 mayinclude a handle 642 disposed at an end opposite from the end coupled tothe clamp component 630. When the locking component 640 pivots to itslocked over-center position, the clamp component 630 may move in adirection 652, as shown in FIG. 7A, to its locked position.

When the locking component 640 is in the locked over-center position,the attachment portion 686 of the cannula 680 may be retained in theregion between the two clamp components 620, 630, as shown in FIG. 7B.Similar to the attachment device 200, the over-center lockingarrangement of the locking component 640 reduces a risk that the lockingcomponent 640 may inadvertently pivot from its locked over-centerposition to its unlocked position. When the locking component 640 is inthe locked over-center position, the locking component 640 may be biasedtoward the locked over-center position such that a biasing force must beovercome before the locking component 640 can be pivoted back to itsunlocked position. This biasing force results from the over-centerarrangement of the locking component 640, similar to the over-centerarrangement of the locking component 240 of the attachment device 200,described above. The locking component 640 and the two clamp components620, 630 may be supported on a support (not depicted). The lockingcomponent 640 may be movably supported on the support via the pivotpoint 644; the clamp component 620 may be fixedly supported on thesupport; and the clamp component 630 may be movably supported on thesupport via a second pivot point or a track (not depicted) that allowsthe clamp component 630 to move relative to the support.

The attachment device 600 may have a locating structure that isconfigured to mate with a corresponding structure disposed on theattachment portion 686 of the cannula 680. In the variation shown inFIGS. 7A and 7B, the locating structure may be a protrusion 622 disposedon the fixed clamp component 620. In other variations, such as thevariation depicted in FIGS. 2A-6, the locating structure can be disposedon a moveable clamp component. Additionally or alternatively, one ormore locating structures can be disposed on one or both clamp components620, 630, or another component or surface adjacent to the region betweenthe two clamp components 620, 630. The protrusion 622 may have aplurality of tapered or angled surfaces. The protrusion 622 may beconfigured to fit into and mate with a recess 688 formed in theattachment portion 686 of the cannula 680. When the clamp component 630is in the closed position (as shown in FIG. 7B) and the protrusion 622has mated with the recess 688, the protrusion 622 can prevent thecannula 680 from being removed or detached from the attachment device600. For example, the protrusion 622 may have an angled surface 623 witha deep pull-back angle that prevents the attachment portion 686 of thecannula 680 from being pulled out of the region between the two clampcomponents 620, 630. The clamp component 630 may have a surface 631 thatis slightly angled, for example, by an angle of five degrees relative toa longitudinal axis of the clamp component 630. When the clamp component630 is in the closed position, the angled surface 631 may clamp down ona surface 689 of the attachment portion 686, which may be angled tocorrespond to the angle of the surface 631. The angled surface 631 andthe correspondingly angled surface 689 may further help to retain theattachment portion 686 in the region between the two clamp components620, 630.

Similar to the locating structure of the cannula attachment device 200,the protrusion 622 may be capable of guiding the attachment portion 686into the region between the two clamp components 620, 630 in apredefined orientation relative to the two clamp components 620, 630.For example, the protrusion 622 can have an angled surface 624 thathelps a user determine whether the attachment portion 686 is beingreceived in the region between the two clamp components 620, 630 in apredefined orientation relative to the two clamp components 620, 630.The angled surface 624 may indicate to the user where the locatingstructure (e.g., protrusion 622) is disposed such that the user canorient the cannula 680 to align the recess 688 of the attachment portion686 with the protrusion 622 when inserting the attachment portion 686into the region between the two clamp components 620, 630.

In some variations, the two clamp components 620, 630 may be non-sterileand the cannula 680 may be sterile. Thus, the attachment device 600 mayprovide a sterile barrier that separates the non-sterile clampcomponents 620, 630 from the sterile cannula 680. As depicted in FIGS.7A and 7B, a sterile adapter 612 may form a sterile barrier between thenon-sterile clamp components 620, 630 and the sterile cannula 680.Similar to the sterile adapter 212 of the cannula attachment device 200,the sterile adapter 612 may be a cover with an opening for receiving theattachment portion 686 of the cannula 680.

In some variations, the attachment device 600 may have a biasing elementsuch as a spring that biases the locking component 640 to its lockedover-center position, thereby holding the clamp component 630 in theclosed position. In these variations, the locking component 640 mustfirst be moved from its locked over-center position to its unlockedposition in order to allow the attachment portion 686 of the cannula 680to be inserted into the region between the two clamp components 620,630. A user may move the locking component 640 to its unlocked positionby overcoming the biasing force of the spring. Once the attachmentportion 686 is inserted into the region between the two clamp components620, 630, the user may release the locking component 640, therebyallowing the spring to bias the locking component 640 back to its lockedover-center position to close the clamp component 630 down on theattachment portion 686. Alternatively, an additional intermediatemechanism, such as a lever or plate, may be capable of moving thelocking component 640 to its unlocked position as the attachment portion686 is being inserted into the region between the two clamp components620, 630, thereby enabling the attachment portion 686 to transition theclamp component 630 from a closed position to an open position. Forexample, as depicted in FIG. 8, an alternative attachment device 600′may have an intermediate mechanism 660′ that can move a lockingcomponent 640. The attachment device 600′ may have similar components asthe attachment device 600, with like numerals referring to like parts,but also have the mechanism 660′. The attachment device 600′ may have aspring (not depicted) that biases the locking component 640 to itslocked over-center position. The intermediate mechanism 660′ may have asurface 664′ that is first contacted by a leading surface 687 of theattachment portion 686 when the attachment portion 686 is being advancedinto the region between the two clamp components 620, 630. As theattachment portion 686 is advanced further into the region between thetwo clamp components 620, 630, the leading surface 687 of the attachmentportion 686 may continue to press against the surface 664′ of theintermediate mechanism 660′, which may cause another portion of theintermediate mechanism 660′ (e.g., a portion 662′ disposed at anopposite end of the mechanism 660′) to apply a force against the lockingcomponent 640. Once a force sufficient to overcome the biasing force ofthe spring is applied against the locking component 640, the lockingcomponent 640 may move from its locked over-center position to itsunlocked position. In the unlocked position, the locking component 640may release the clamp component 630 (e.g., allow the clamp component 630to open), thereby allowing the attachment portion 686 to be advancedfurther into the region between the two clamp components 620, 630. Then,once the attachment portion 686 has advanced a certain distance into theregion between the two clamp components 620, 630, the mechanism 660′ maydisengage with the attachment portion 686 and move aside, therebyallowing the spring to bias the locking component 640 to its lockedover-center position once again and to close the clamp component 630down on the attachment portion 686.

In some variations, a cannula attachment device may have a locatingstructure having a frusto-pyramidal shape, such as, for example, afour-sided sloped pyramid shape or other tapered pyramidal shape. Thelocating structure can be located on a movable clamp component, a fixedclamp component, or another component or surface surrounding a regionthat receiving a portion of a cannula. For example, as shown in FIGS. 9Aand 9B, a moveable clamp component 800 may have a locating structureformed of a flat surface 820 and four angled surfaces 822. The multiplesurfaces 820, 822 of the locating and attaching structure may allow acannula or trocar to be securely positioned and attached to a roboticarm of a surgical robotic system. For example, the moveable clampcomponent 800 may be coupled to a surgical robotic system (e.g., a tooldriver or an end of a robotic arm), and the locating and attachingstructure of the moveable clamp component 800 may be configured to matewith a corresponding structure disposed on a portion of the cannula ortrocar. When the locating and attaching structure mates with thecorresponding structure of the cannula or trocar, the locating andattaching structure may secure the cannula or trocar in place relativeto the robotic arm. The movable clamp component 800 may be held orclamped in place over a portion of the cannula or trocar by a lockingassembly such as any of the locking components described herein. Themovable clamp component 800 may have an opening 810 (or, alternatively,a peg) for engaging with additional structure to form a pivot pointabout which the movable clamp component 800 may pivot. When set up, themovable clamp component 800 may pivot between an open position and aclosed position, similar to that of clamp component 230 and clampcomponent 630. In some variations, the movable clamp component 800 mayhave a slot that allows a locking component, such as any of the lockingcomponents described herein, to moveably couple to the movable clampcomponent 800 via a peg or similar structure.

FIG. 10 depicts another exemplary variation of an attachment device formounting a cannula, such as a cannula 1080, having a two-member lock andrelease system. The attachment device 1000 can be similar in structureand/or function to one or more other attachment devices describedherein, including the attachment device 200 described with reference toFIGS. 2A-6, with variations including, for example, (1) a spring 1060configured to bias a clamp component 1030 to a closed position, and (2)one or more stop surfaces 1062 configured to limit a movement of alocking component such as, for example, a release lever 1040. Theattachment device 1000 may have a clamp component 1030, such as a leveror bar, which can move between an open position and a closed position.The clamp component 1030 may be biased to the closed position, as shownin FIG. 10, by a spring 1060, such as a torsion spring. The attachmentdevice 1000 may have a release lever or bar 1040, which can move theclamp component 1030 from the closed positon to the open position. Therelease lever 1040 may have a first end that is moveably coupled to theclamp component 1030 via a peg 1050. The peg 1050 may be disposed in aslot 1032 formed in the clamp component 1030 and configured to slidealong a length of the slot 1032. The release lever 1040 may also have asecond end with a user contact point or handle 1042 that can beactuated, e.g., by a hand of a user, to move the release lever 1040. Themovement of the release lever 1040 may be limited by one or more stopsurfaces 1062. The handle 1040 can be pushed or pressed by a user in adirection 1092 to move the first end of the release lever 1040 in adirection 1094 (e.g., to translate the peg 1050 along the length of theslot 1032 in the direction 1094). When the first end of the releaselever 1040 moves in the direction 1032, the release lever 1040 may exerta force on the clamp component 1030 that can overcome the biasing forceof the spring 1060 and move the clamp component 1030 from the closedposition to the open position. In the open position, the clamp component1030 may allow a portion of the cannula 1080 to be inserted in adirection 1090 into a region of the attachment device 1000. When theuser stops pressing on the handle 1040, the spring 1060 may bias theclamp component 1030 back to its closed position, and the clampcomponent 1030 may latch onto the portion of the cannula 1080 to retainthat portion in the region of the attachment device 1000.

Similar to the locking components described herein, the release lever1040 may be designed as an over-center locking mechanism. For example,when the release lever 1040 is in the position shown in FIG. 10, therelease lever 1040 may be in an over-center position. In the over-centerposition, the release lever 1040 may biased to remain in the over-centerposition (e.g., biased against moving). Due to its over-centerarrangement, the release lever 1040 may experience a biasing force thatholds the release lever 1040 in its locked over-center position.

In some variations, the attachment device 1000 may have an additionalclamp component or a fixed surface spaced from the clamp component 1030.The clamp component 1030 and this additional clamp component may definethe region for receiving the portion of the cannula 1080. When theportion of the cannula 1080 is disposed in the region defined by theclamp component 1030 and the additional clamp component, and the userreleases the release lever 1040 such that the clamp component 1030 movesback to its closed position, the clamp component 1030 and the additionalclamp component may clamp around the portion of the cannula 1080 toretain it within the region defined by the clamp component 1030 and theadditional clamp component.

Similar to other cannula attachment devices described herein, theattachment device 1000 may also have a sterile adapter 1012 forproviding a sterile barrier between the clamp component 1030, which maybe non-sterile, and the cannula 1080, which may be sterile.

Ratchet-Like Variations

In some variations, a cannula attachment device may have a mechanism forattaching a cannula to a tool driver or robotic arm that allows thecannula to be easily inserted into a region of the attachment device inone direction but difficult to remove in another direction. In suchvariations, a user may not need to actuate a component of the attachmentdevice in order to insert and securely attach the cannula to theattachment device. The attachment device may be designed to allow thecannula to be attached to the attachment device when the cannula isbrought into contact with a portion of the attachment device.

For example, an exemplary variation of a cannula attachment device 1100is depicted in FIG. 11. The cannula attachment device 1100 is configuredto receive a cannula 1180 having a cannula proximal portion 1182 and acannula shaft 1184 extending distally from the cannula proximal portion1182.

The cannula proximal portion 1182 may have a projection 1190 (e.g., anattachment portion) extending from a side of the cannula proximalportion 1182, where the projection 1190 generally tapers in width. Forexample, the projection 119 may generally have a shape of a trapezoidalprism with two opposite sides of the projection 1190 tapering toward acenterline of the projection, or a shape of a square frustum with foursides of the projection 1190 tapering toward centerline of theprojection. The projection 1190 may include angled teeth 1188 arrangedon a first tapering side 1196 and angled teeth 1192 arranged on a secondtapering side 1194. The angled teeth 1188, 1192 may be angled away froma direction generally perpendicular to an insertion direction (e.g., theinsertion direction 1199) at an angle 1198. The angle 1198 may be, forexample, between about 15 and about 50 degrees, or between about 20 andabout 45 degrees, or between about 30 and about 35 degrees. The angledteeth 1188 may be angled in a direction opposite from that of the angledteeth 1192.

The cannula attachment device 1100 may include at least two plates 1120,1130 that are opposing each other across an opening or region 1152 forreceiving the cannula projection 1190. The plate 1120 may have angledteeth 1113 disposed on a surface facing the opening 1152, and the plate1130 may have angled teeth 1111 also disposed on a surface facing theopening 1152. The angled teeth 1111, 1113 may be angled relative to adirection generally perpendicular to the insertion direction 1199 by anangle 1150. The angle 1150 may be, for example, between about 15 andabout 50 degrees, or between about 20 and about 45 degrees, or betweenabout 30 and about 35 degrees. The angle 1150 may correspond to theangle 1198 such that the angled teeth 1188, 1192 can matingly engagewith the angled teeth 1111, 1113. Similar to the angled teeth 1188,1192, the angled teeth 1111 may be angled in a direction opposite fromthat of the angled teeth 1113. The plate 1120 may be urged toward theplate 1130 by a biasing element such as a spring 1122 applying a biasforce F1, and the plate 1130 may be urged toward the plate 1120 byanother biasing element such as a spring 1132 applying a bias force F2.

To attach the cannula 1180 to the attachment device 1100, the cannula1180 may be moved toward the attachment device 1100 in an insertiondirection 1199 to insert the cannula projection 1190 into the opening1152. Insertion of the cannula projection 1190 into the opening 1152 maydisplace the adapter plates 1120, 1130 apart to enable the angled teeth1188 to engage with the angled teeth 1111 and the angled teeth 1192 toengage with the angled teeth 1113. Once the angled teeth 1188, 1192 areengaged with the angled teeth 1111, 1113, the bias forces F1, F2 on theplates 1120, 1130 cause the plates 1120, 1130 to clamp down on theprojection 1190 and secure or lock the coupling of the cannulaattachment device 1100 and the cannula 1180. In some variations, amechanical stop and/or latch (e.g., to lock the plates 1120, 1130 in aclamping arrangement) may be included to help secure the coupling.Generally, as long as at least one of the spring bias forces F 1, F2 isnot overcome, the relative movement of the cannula projection 1190 andthe attachment device 1100 is permitted only in one direction, such thatthe cannula projection 1190 is easily inserted into the opening 1152 butis substantially prevented from being removed from the opening 1152. Thesprings 1122, 1132, may urge the plates 1120, 1130, respectively, towardone another to retain the projection 1190 within the opening 1152 aswell as to maintain the engagement of the angled teeth 1111, 1113 withthe angled teeth 1188, 1192, respectively. In some variations, amechanism (e.g., a button, lever, handle, squeeze mechanism) may beprovided to compress the springs 1122, 1132 by overcoming the springbias force and to displace the plates 1120, 1130 sufficiently apart topermit removal of the cannula projection 1190 from the opening 1152,thereby decoupling the cannula 1180 from the attachment device 1100 (anda tool driver or robotic arm). Advantageously, in the exemplaryvariation shown in FIG. 11, the attachment device 1100 and the cannula1180 may be coupled without requiring actuation of a secondary mechanism(e.g., the attachment device 1100 and the cannula 1180 may be coupledvia a one-handed operation to “snap and lock” the cannula 1180 into theattachment device 1100), and the cannula 1180 may be securely retainedwith the attachment device 1100 until a secondary mechanism is activatedto permit disengagement of the attachment device 1100 and cannula 1180.

Other variations of cannula attachment devices may also utilize angledteeth or similar angled features in different manners, such as foraccommodating differently shaped cannula projections. For example, whilethe variation shown in FIG. 11 may be configured to receive a projection1190 generally having the shape of a trapezoidal prism (with twoopposite sides of the projection tapering toward the centerline of theprojection) or a square frustum (with four sides of the projectiontapering toward the centerline of the projection), other variations maybe configured to receive other tapered projection shapes, such as afrusto-conical shape with annular angled ridges engaging angled teeth orridges in the cannula adapter, or non-tapered projection shapes, such asa rectangular prismatic shape or cylindrical shape with angled teeth orridges.

In some variations, a sterile adapter element for separating thenon-sterile cannula attachment device 1100 from the sterile cannula 1180may include a drape or other sterile sheet (e.g., plastic) that fitsbetween the non-sterile angled teeth 1111, 1113 on the cannulaattachment device 1100 and the sterile angled teeth 1188, 1192 on thecannula 1180. The plastic may act as a bearing surface with reducedfriction between the teeth 1111, 1113, 1188, 1192, thereby furtherfacilitating the insertion of the cannula projection 1190 into thecannula attachment device 1100.

In another example variation, as shown in FIG. 12, a cannula attachmentdevice 1300 is configured to receive a cannula 1380 having a cannulaproximal portion 1382 and a cannula shaft 1384 extending distally fromthe cannula proximal portion 1382. Similar to the cannula 1180 shown inFIG. 11 and described above, the cannula proximal portion 1382 may havea projection 1390 (e.g., an attachment portion) extending from a side ofthe cannula proximal portion 1382, where the projection 1390 generallytapers in width (e.g., generally has the shape of a trapezoidal prismwith two opposite sides of the projection 1390 tapering toward acenterline of the projection 1390). The projection 1390 may includeteeth 1392 or similar structures arranged in a rack-like configurationon at least two tapering sides 1394, 1396 of the projection 1390. Thecannula attachment device 1300 may include at least two rotating,pinion-like elements 1320, 1330 that are opposing each other across aspace 1352 that receives the cannula projection 1390. Each of thepinon-like elements 1320, 1330 may include at least a portion of a gear,where a first side of the pinon-like element 1320, 1330 may be flat anda second side of that pinon-like element 1320, 1330 may be round andhave teeth 1324 disposed thereon. The teeth 1324 of the pinion-likeelements 1320, 1330 may be configured to engage the teeth 1392 on thecannula 1380. The pinon-like element 1320 may be configured to rotateabout a point 1322, and the pinion-like element 1330 may be configuredto rotate about a point 1332.

When the cannula projection 1390 is moved in a direction 1399 andinserted into the space 1352 between the two pinion-like elements 1320,1330, the pinion-like element 1320 may rotate in a direction 1398 andthe pinion-like element 1330 may rotate in a direction 1397, and theteeth 1392 on the cannula projection 1390 may engage with the teeth 1324on the pinion-like elements 1320, 1330. Once the cannula projection 1390has been inserted into the space 1352 between the two pinion-likeelements 1320, 1330 and the teeth 1392 have engaged with the teeth 1324,the pinion-like elements 1320, 1330 may be locked into place byinterfering elements acting on the flat surfaces of the pinion-likeelements 1320, 1330. For example, the interfering elements may includesprings that urge the pinion-like elements 1320, 1330 toward one anotherto clamp down on the projection 1390 and secure the coupling of theattachment device 1300 and the cannula 1380. The cannula projection 1390may be easily inserted into the space 1352, but is substantiallyprevented from being removed from the space 1352 as a result of thesprings urging the pinion-like elements 1320, 1330 toward one another toretain the projection 1390 in the space 1352. The interfering elementsmay include additional mechanical stops to help secure or lock thecoupling. A mechanism (e.g., button, lever, handle, squeeze mechanism,etc.) may be included to overcome the force applied by the interferingelements in order to rotate the pinion-like elements 1320, 1330 in anopposite direction to permit removal of the cannula projection 1390 fromthe space 1352, thereby decoupling the cannula 1380 from a tool driveror robotic arm. Again, advantageously, in this variation, the cannulaattachment device 1300 and the cannula 1380 may be coupled withoutrequiring actuation of a secondary mechanism (e.g., the attachmentdevice 1300 and the cannula 1380 may be coupled via a one-handedoperation to “snap and lock” the cannula 1380 into the attachment device1300), and the cannula 1380 may be securely retained with the attachmentdevice 1300 until a secondary mechanism is activated to permitdisengagement of the attachment device 1300 and cannula 1380.

Similar to the cannula attachment device 1100, other variations of thecannula attachment device 1300 may accommodate different shapes of thecannula projection 1390 (e.g., trapezoidal prism, square frustum,frusto-conical, etc.). And while the pinion-like elements 1320, 1330 areshown in FIG. 12 as being generally semi-circular, in other variations,the pinion-like elements 1320, 1330 may be circular (e.g., disk orring-like with spokes, etc.) or include any suitable circular or roundsegment. Furthermore, in other variations, the pinion-like elements1320, 1330 may have a varying radius such that, as the pinion-likeelements 1320, 1330 rotate to receive the cannula projection 1390, theradius of the pinion-like elements 1320, 1330 where the teeth 1324engage with the teeth 1392 may become increasingly narrower, therebyfurther securing the engagement between the pinion-like elements 1320,1330 and the cannula projection 1390.

In some variations, a sterile adapter element for separating thenon-sterile cannula attachment device 1300 from the sterile cannula 1380may include an idler gear disposed between each non-sterile pinion-likeelement 1320, 1330 and the sterile projection 1390, which may providephysical separation between the non-sterile and sterile portions, whilestill permitting operation of a mechanism substantially similar to thatdescribed above with reference to FIG. 12. Additionally oralternatively, a drape or other sterile sheet may be disposed betweenthe non-sterile teeth 1324 and sterile teeth 1392.

In another example variation, as shown in FIG. 13, a cannula attachmentdevice 1500 is configured to receive a cannula 1580, where the cannula1580 has a cannula proximal portion 1582 and a cannula shaft 1584extending distally from the cannula proximal portion 1582. The cannulaproximal portion 1582 may have a projection 1590 extending from a sideof the cannula proximal portion 1582, where the projection 1590 has acontoured surface defining at least one concavity 1592. The concavity1592 is configured to engage with at least one feature on the cannulaattachment device 1500. For example, the cannula attachment device 1500may include at least one inflatable bladder 1520, which may beselectively filled with a fluid (e.g., air or other gas, a liquid,etc.), such as through a valve and/or pump system. In one example, theprojection 1590 may include a concavity 1592 such as an annular channelthat extends around a perimeter of the projection 1590, and the bladder1520 may be a torus-like structure configured to mate and engage withthe annular channel. In another example, the projection 1590 includes atleast one side with a concavity 1592 configured to engage with a singlebladder 1520 of the cannula attachment device 1500. In yet anotherexample, the projection 1590 includes at least two opposing sides withrespective concavities 1592, each of which is configured to engage oneof two bladders 1520 that oppose each other across a space or opening1552 on the cannula attachment device 1500.

In a disengaged mode, the bladder 1520 may be deflated to permit theprojection 1590 of the cannula 1580 to be inserted into the opening1552. Once the projection 1590 is inserted into the opening 1552, thebladder 1520 may be inflated. In some variations, when the projection1590 is inserted a predetermined distance or depth into the opening1520, the projection 1590 may automatically trigger a valve to open andinflate the bladder 1520. The triggering mechanism may be a mechanicaltrigger or an electrical trigger, such as a contact sensor, pressuresensor, optical sensor, etc. Additionally or alternatively, a user maymanually initiate inflation of the bladder 1520. In variations in whichthere are multiple bladders 1520 arranged in the cannula attachmentdevice 1500, the multiple bladders may be symmetrically arranged andgenerally inflated to identical extents in order to automatically centerand/or otherwise align the projection 1590 in the opening 1552, whichmay help to position and align other portions of the cannula 1580.Additionally or alternatively, at least some of the multiple bladders1520 may be inflated to differing extents in order to compensate formisalignment of the projection 1590 and/or other portion of the cannula.Similarly, in variations in which there is a single bladder 1520, thebladder 1520 may be inflated to a selected extent in order to align thecannula and/or compensate for inherent misalignments in the cannula1580. To disengage or remove the projection 1590 of the cannula 1580from the attachment device 1500, the bladder 1520 may be deflated suchthat it is no longer engaged with the concavity 1592 in the projection1590. A mechanism, such as a button or switch, may be actuated torelease a valve or other component of a pump system to allow the bladder1520 to deflate.

In some variations, a sterile adapter element for separating thenon-sterile cannula attachment device 1500 from the sterile cannula 1580may also include a drape or other sterile sheet (e.g., plastic) thatfits between the non-sterile bladder 1520 on the cannula attachmentdevice 1500 and the projection 1590 of the cannula 1580.

Cam Lock Variation

In some variations, a device for attaching a cannula to a tool drivermay include a cam lock mechanism. The cannula attachment device may beoperable using a single hand when attaching and releasing the cannula.The attachment device may securely retain the cannula until a useractuates a release mechanism to disengage the cannula from the device;thus, the attachment device may prevent an accidental release of thecannula. The attachment device may require a minimal amount of forcefrom a user to attach and release the cannula. For example, theattachment device may require a user to exert less than five pounds offorce to attach and release the cannula.

The cam lock mechanism of the cannula attachment device may include alatch that automatically latches into the cannula when the cannula isinserted into a cavity or recess of the attachment device. The latch maybe biased in its latched position (e.g., closed position) by a biasingelement such as a torsion spring. A user may actuate a lever to move orrotate the latch to an open position such that a portion of the cannulacan be inserted into the recess of the attachment device. The lever maybe connected to the latch via a gear system, which acts as a forcemultiplier. For example, the gear system may allow a user to exert aforce that is smaller than the force applied by the torsion spring inorder to overcome the torsion spring force and move the latch. A usercan exert a four-pound force on the lever, which may be multiplied by agear system having a gear ratio of, for example, at least 1.5:1 in orderto help the user overcome a six-pound torsion spring. When the cam lockmechanism has secured the cannula in place, the cannula attachmentdevice is capable of resisting external forces acting on the cannula.For example, when the latch of the cam lock mechanism has latched ontothe cannula, the latch may have a near over-axis alignment that reducespotential movement or rotation of the latch when a lateral pulling forceis exerted on the cannula. The attachment device may be capable ofresisting torsional, bending, and other forces applied to the attachmentdevice.

In some variations, the attachment device may have sensing capabilitiesfor sensing and/or identifying a trocar or cannula. For example, theattachment device may have a sensor that detects a position of the latchof the cam lock mechanism in order to determine whether the latch haslatched onto a cannula or trocar. The sensor may be, for example, atransducer such as a Hall effect sensor which is capable of detecting amagnetic field. The Hall effect sensor may operate by detecting alocation of a magnet disposed on a portion of the latch. As anotherexample, the attachment device may have a sensor that determines a typeof trocar or cannula that has been inserted into the attachment device.The sensor may be, for example, a magnetic pole or magnetic field sensorthat is capable of identifying certain types of trocars or cannulas.

FIGS. 14-15B depict an exemplary variation of an attachment device forattaching a cannula, such as a cannula 1780, to a tool driver or roboticarm of a surgical table, where the attachment device includes a cam lockmechanism. FIG. 14 is a perspective view of the attachment device 1700,and FIGS. 15A-15B are enlarged views of a cam lock mechanism ofattachment device 1700 in two different configurations. As shown in FIG.14, the attachment device 1700 includes an actuating member, such as alever 1710. The lever 1710 may be connected to a gear assembly 1720.When actuated, the lever 1710 may drive one or more gears of the gearassembly 1720 to move a locking member, such as a latch 1740, asdepicted in FIGS. 15A-15B.

The cannula 1780 can be similar in structure and/or function to one ormore other cannulas described herein. For example, the cannula 1780 mayhave a proximal portion 1782, such as, for example, a hub, fitting,connector, etc. The proximal portion 1782 of the cannula 1780 mayinclude an attachment portion 1790. The attachment portion 1790 mayextend from a side of the proximal portion 1782. The cannula 1780 mayalso have a shaft 1784 (partially depicted in FIG. 14) that extendsdistally from the proximal portion 1782.

The latch 1740 of the attachment device 1700 may be may be movablebetween a closed position, as shown in FIGS. 14 and 15B, and an openposition, as shown in FIG. 15A. The latch 1740 may, for example, includea protrusion 1748 that is configured to latch into a correspondinglyshaped recess 1794 formed in the attachment portion 1790 of the cannula1780. Alternatively, the latch 1740 may include a recess that isconfigured to receive a correspondingly-shaped protrusion disposed onthe attachment portion 1790 of the cannula 1780. When the protrusion1748 is latched into the recess 1794, the latch 1740 may ensure that theattachment portion 1790 is securely attached to the tool driver orrobotic arm of the surgical table. The latch 1740 may be biased to theclosed position by a biasing element such as a spring 1746. When thelatch 1740 is in the closed position, the protrusion 1748 of the latch1740 may be disposed in a space or region 1750 of the attachment device1700 in which the attachment portion 1790 can be inserted. But when theprotrusion 1748 is disposed in the region 1750, the protrusion 1748 maysubstantially prevent the attachment portion 1790 from being insertedfully into the region 1750. For example, a surface of the protrusion1748 may contact a leading surface of the attachment portion 1790 andprevent the attachment portion 1790 from being inserted further into theregion 1750.

Accordingly, when attaching the cannula 1780 to the attachment device1700, a user may need to move the latch 1740 to the open position, shownin FIG. 5A, such that the protrusion 1748 is not disposed in the region1750 for receiving the attachment portion 1790 of the cannula 1780. Theuser may actuate the lever 1710, for example, by depressing the lever1710, to move the latch 1740. Advantageously, the lever 1710 can beactuated by a user using one hand. The lever 1710 may drive movement ofone or more gears and links of the gear assembly 1720 (e.g., gears 1722,1726 and link 1734) to move the latch 1740. The biasing force of thespring 1746 must be overcome in order to allow the latch 1740 to move tothe open position. But based on the relative sizes of the gears of thegear assembly 1720, which can be designed to act as a force multiplierwith a suitable gear ratio, the force applied by the user can be lessthan the biasing force of the spring 1746 in order to overcome thespring biasing force and move the latch 1740 to the open position. Forexample, the lever 1710 can be attached to a first gear 1722. The firstgear 1722 may have teeth 1724 that are disposed a distance 1731 from acenter 1730 of the first gear 1722. The teeth 1724 of the first gear1722 may be configured to engage with teeth 1728 of a second gear 1726.The teeth 1728 of the second gear 1726 may be disposed a distance 1733from a center 1732 of the second gear 1726. When the distance 1731 isgreater than the distance 1733, the two gears 1722, 1726 may act as aforce multiplier, thereby allowing the user to apply less force toovercome the biasing force of the spring 1746. For example, the user mayonly need to apply a four-pound force in order to overcome a springbiasing force of six pounds, if the gear ratio between the first andsecond gears is about 1.5:1. In some variations, the two gears 1722,1726 may be connected in series with one or more additional gears thatmay increase the effective gear ratio and force multiplying effect ofthe gear assembly 1720. The rotation of the two gears 1722, 1726 maydrive movement of a link 1734. When the link 1734 moves to its positionas shown in FIG. 15A, a portion 1738 of the link 1734 may engage with aportion 1742 of the latch 1740, thereby causing the latch 1740 to moveto its open position.

Once the latch 1740 is in its open position, the user may insert theattachment portion 1790 of the cannula 1780 into the region 1750 of theattachment device 1700, as shown in FIG. 15A. The user may then releasethe lever 1710 to allow the spring 1746 to bias the latch 1740 back toits closed position, as shown in FIG. 15B. When the latch 1740 is biasedback to its closed position, the protrusion 1748 of the latch may bedisposed in the recess 1814 of the attachment portion 1790, securing theattachment portion 1790 in the region 1750 of the attachment device1700. In the closed position, the latch 1740 may have a near over-axisor over-center alignment such that the latch 1740 may resist movement orrotation when a pulling force is exerted on the cannula 1780. In anexemplary variation, the attachment device may be designed to resistmoments of up to 250 inch-pounds (in-lbs) and/or forces of up to 37 N.

The region 1750 may be shaped to correspond to a shape of the attachmentportion 1790. In a variation, the region 1750 can be designed toaccommodate a portion of the cannula 1780 (e.g., the attachment portion1790) having a diameter of approximately 42 millimeters (mm), but inother variations, the attachment device may be modified to accommodatecannulas having larger or smaller diameters. In some variations, theattachment portion 17910 may have a cylindrical or an ellipticalcross-sectional shape (e.g., an oval or elongated round shape). Theelongated sides of an elliptical cross-sectional shape may, for example,help prevent rotation and translation of the cannula relative to theregion 1750. In other variations, the attachment portion 1790 may beshaped differently (e.g., have a trapezoidal prism shape, square frustumshape, frusto-pyramidal shape, etc.), and the region 1750 may becorrespondingly shaped to receive the attachment portion 1790. In someaspects, the region 1750 may be tapered (and the attachment portion 1790may be correspondingly tapered) to facilitate easier insertion of theattachment portion 1790 into the region 1750.

The attachment device 1700 may include one or more sensors for sensingpositions of other components of the attachment device 1700 and/or atype of trocar or cannula that has been inserted into the attachmentdevice 1700. For example, a sensor 1760 may be positioned proximate tothe portion 1742 of the latch 1740 and may detect when the latch 1740 isin its closed position and has latched onto a cannula. The sensor 1760may be an optical sensor, magnetic sensor, or other type of sensor thatprovides a reading or electrical signal in response to a movement of thelatch 1740. In some variations, the latch 1740 may include one or moremagnets that may generate a magnetic field, which can be detected by thesensor 1760 to determine a position of the latch 1740, and to determinewhether a trocar or cannula has been inserted into the attachment device1700. In another example, the attachment device 1700 may have a sensor1770 that is positioned proximate to a surface of a trocar or cannula,such as the cannula 1780, when the trocar or cannula is inserted intothe attachment device 1700. Alternatively or additionally, the sensor1770 may be an optical sensor, magnetic sensor, or other type of sensorthat provides a reading or electrical signal in response to a presenceof a trocar or cannula. The trocar or cannula may include magnets orother electrical components that may generate a magnetic field that canbe detected by the sensor 1770 and used to detect whether the trocar orcannula has been properly placed and attached to the attachment device1700 and/or a type of the trocar or cannula (e.g., whether the trocar orcannula is of a certain size, or configured to receive instruments of acertain type and size). Additionally or alternatively, the trocar orcannula may have a barcode or other type of identifying feature that canbe detected (e.g., scanned, imaged) by the sensor 1770 to determine atype of the trocar or cannula.

In some variations, a sterile adapter element 1792 for separating thenon-sterile attachment device 1700 from the sterile cannula 1780 mayalso include a drape or other sterile sheet (e.g., plastic) that fitsbetween the non-sterile latch 1740 on the attachment device 1700 and theattachment portion 1790 of the cannula 1780. The sterile adapter element17912 may be sufficiently flexible such that it can conform to a shapeof the non-sterile latch 1740 and the attachment portion 1790 when thetwo are engaged with one another.

Where methods described above indicate certain events occurring incertain order, the ordering of certain events may be modified.Additionally, certain of the events may be performed concurrently in aparallel process when possible, as well as performed sequentially asdescribed above.

Where schematics and/or embodiments described above indicate certaincomponents arranged in certain orientations or positions, thearrangement of components may be modified. While the embodiments havebeen particularly shown and described, it will be understood thatvarious changes in form and details may be made. Any portion of theapparatus and/or methods described herein may be combined in anycombination, except mutually exclusive combinations. The embodimentsdescribed herein can include various combinations and/orsub-combinations of the functions, components and/or features of thedifferent embodiments described.

What is claimed is:
 1. An apparatus, comprising: a body defining aregion to receive a cannula; a latch rotatably coupled to the body; anda link rotatably coupled to the body, wherein the link includes a linkportion slidable along the latch to rotate the latch from an openposition to a closed position in which a latch portion of the latch isdisposed within the region.
 2. The apparatus of claim 1, wherein thelatch includes a recess configured to receive a protrusion disposed onthe cannula.
 3. The apparatus of claim 1 further comprising a levercoupled to the link to cause the link to rotate and the latch to rotateto the open position.
 4. The apparatus of claim 3 further comprising agear system including an input gear coupled to the lever and an outputgear coupled to the link, wherein the gear system includes a gear ratiogreater than
 1. 5. The apparatus of claim 1 further comprising a biasingelement coupled to the latch to bias the latch to the closed position.6. The apparatus of claim 5, wherein the biasing element includes atorsion spring.
 7. The apparatus of claim 1, wherein the latch has anear over-center alignment in the closed position such that the latchresists rotation when a pulling force is exerted on the cannula.
 8. Theapparatus of claim 1, wherein the link portion slides along the latch ina first direction when the latch rotates from the open position to theclosed position, and wherein the link portion slides along the latch ina second direction when the latch rotates from the closed position tothe open position.
 9. The apparatus of claim 1, wherein the regionincludes at least one tapered surface shaped to guide the cannula intothe region.
 10. The apparatus of claim 1, wherein the latch includes amagnet.
 11. The apparatus of claim 10 further comprising a sensor todetect a location of the magnet.
 12. A surgical robotic system,comprising: an attachment device including a body defining a region, alatch rotatably coupled to the body, and a link rotatably coupled to thebody, wherein the link includes a link portion slidable along the latchto rotate the latch from an open position to a closed position in whicha latch portion of the latch is disposed within the region; and acannula including a portion shaped to insert into the region.
 13. Thesurgical robotic system of claim 12, wherein the portion of the cannulaincludes a protrusion, and wherein the latch includes a recessconfigured to receive the protrusion.
 14. The surgical robotic system ofclaim 12 further comprising a lever coupled to the link to cause thelink to rotate and the latch to rotate to the open position.
 15. Thesurgical robotic system of claim 14 further comprising a gear systemincluding an input gear coupled to the lever and an output gear coupledto the link, wherein the gear system includes a gear ratio greaterthan
 1. 16. The surgical robotic system of claim 12 further comprising abiasing element coupled to the latch to bias the latch to the closedposition.
 17. The surgical robotic system of claim 12, wherein the linkportion slides along the latch in a first direction when the latchrotates from the open position to the closed position, and wherein thelink portion slides along the latch in a second direction when the latchrotates from the closed position to the open position.
 18. The surgicalrobotic system of claim 12, wherein the region includes at least onetapered surface shaped to guide the portion of the cannula into theregion.
 19. A method, comprising: inserting a portion of a cannula intoa region defined by a body of an attachment device; and rotating a linkcoupled to the body to cause a latch coupled to the body to rotate froman open position to a closed position in which a latch portion of thelatch is disposed within the region.
 20. The method of claim 19, whereina link portion slides along the latch in a first direction when thelatch rotates from the open position to the closed position, and whereinthe link portion slides along the latch in a second direction when thelatch rotates from the closed position to the open position.